Research
My research focuses on Controls, Robotics, and Safety.
Checkout these blog posts for brief and high-level introductions on some of these topics:
- Control and Dynamical Systems
- More coming soon!
And checkout this list for some of the my favorite papers written by others that have inspired my work:
Publications
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CDC 2022: End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions
Ryan K. Cosner*, Yisong Yue, Aaron D. Ames. [pdf]
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CDC 2022: Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models
Adrew J. Taylor*, Victor D. Dorobantu*, Ryan K. Cosner*, Yisong Yue, Aaron D. Ames. [pdf]
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L4DC 2022: Safety-Aware Preference-Based Learning for Safety-Critical Control
Ryan K. Cosner*, Maegan Tucker, Andrew J. Taylor, Kejun (Amy) Li, Tamas G. Molnar, Wyatt Ubellacker, Anil Alan, Gabor Orosz, Yisong Yue, Aaron D. Ames. [pdf]
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ICRA 2022: Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision
Ryan K. Cosner*, Ivan D. Jimenez-Rodriguez*, Tamas G. Molner, Wyatt Ubellacker, Yisong Yu, Aaron D. Ames, Katherine L. Bouman
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LCSS 2022: A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems
Devansh R. Agrawal*, Hardik Parwana, Ryan K. Cosner*, Ugo Rosolia, Aaron D. Ames, Dmitra Panagou.
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RAL 2022: Model-Free Safety-Critical Control for Robotic Systems
Tamas G. Molnar, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames. [pdf]
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IROS 2021: Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State
Ryan K. Cosner, Andrew W. Singletary, Andrew J Taylor, Tamas G. Molnar, Katherine L. Bouman, Aaron D. Ames. [pdf]
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LCSS 2021: Multi-rate control design under input constraints via fixed-time barrier functions
Kunal Garg, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, Dmitra Panagou. [pdf]
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L4DC 2021: Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety
Noel Csomay-Shanklin*, Ryan K. Cosner*, Min Dai*, Andrew J. Taylor, Aaron D. Ames. [pdf]
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CoRL 2020: Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions
Sarah Dean, Andrew J. Taylor, Ryan K Cosner, Benjamin Recht, Aaron D. Ames. [pdf]